#ifndef _TASK_PITCH_
#define _TASK_PITCH_
#ifdef __cplusplus
 extern "C" {
#endif
#include "includes.h"


#ifdef   _TASK_PITCHYAW_GLOBALS
#define  _TASK_PITCHYAW_EXT        
#else 
#define  _TASK_PITCHYAW_EXT   extern
#endif

_TASK_PITCHYAW_EXT uint64_t PitchYaw_AssistStk[512/8];
_TASK_PITCHYAW_EXT OS_TID HandlePitchYaw_Assist;
	
__task void PitchYaw_Assist(void);
extern float GYO_X,GYO_Y,GYO_Z;



typedef struct
{
	float AxisX;
	float AxisY;
	float AxisZ;
	float temp;
	float GyroX;
	float GyroY;
	float GyroZ;
	float AngX;
	float AngY;
	float AngZ;
	float AngXFil;
	float AngYFil;
	float AngZFil;
}MPU6050_t;


typedef struct
{
	float GyroX;
	float GyroY;
	float GyroZ;
}MPU6050Cal_t;


extern MPU6050_t MPU6050;
extern MPU6050Cal_t MPU6050Cal;

#ifdef __cplusplus
 }
#endif
#endif
